Fix formatting issues

.docker/source/Dockerfile

@@ -31,4 +31,4 @@ RUN . /opt/ros/${ROS_DISTRO}/setup.sh &&\
     colcon build \
             --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
               --ament-cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-            --event-handlers desktop_notification- status-
+            --event-handlers desktop_notification- status-

moveit_commander/demos/plan.py

@@ -47,17 +47,17 @@
     robot = RobotCommander()
     rospy.sleep(1)
 
-    print "Current state:"
-    print robot.get_current_state()
+    print("Current state:")
+    print(robot.get_current_state())
 
     # plan to a random location
     a = robot.right_arm
     a.set_start_state(RobotState())
     r = a.get_random_joint_values()
-    print "Planning to random joint position: "
-    print r
+    print("Planning to random joint position: ")
+    print(r)
     p = a.plan(r)
-    print "Solution:"
-    print p
+    print("Solution:")
+    print(p)
 
     roscpp_shutdown()

moveit_commander/demos/plan_with_constraints.py

@@ -51,8 +51,8 @@
     a = robot.right_arm
     a.set_start_state(RobotState())
 
-    print "current pose:"
-    print a.get_current_pose()
+    print("current pose:")
+    print(a.get_current_pose())
     c = Constraints()
 
     waypoints = []
@@ -72,4 +72,4 @@
     waypoints.append(wpose)
 
     plan, fraction = a.compute_cartesian_path(waypoints, 0.01, 0.0, path_constraints=c)
-    print 'Plan success percent: ', fraction
+    print('Plan success percent: ', fraction)

moveit_core/constraint_samplers/dox/constraint_samplers.dox

@@ -4,4 +4,4 @@
 See constraint_samplers namespace
 
 
-*/
+*/

moveit_core/robot_model/src/fixed_joint_model.cpp

@@ -100,4 +100,4 @@ void FixedJointModel::computeVariablePositions(const Eigen::Isometry3d& /* trans
 }
 
 }  // end of namespace core
-}  // end of namespace moveit
+}  // end of namespace moveit

moveit_core/robot_model/src/link_model.cpp

@@ -124,4 +124,4 @@ void LinkModel::setVisualMesh(const std::string& visual_mesh, const Eigen::Isome
 }
 
 }  // end of namespace core
-}  // end of namespace moveit
+}  // end of namespace moveit

moveit_core/robot_model/src/order_robot_model_items.inc

@@ -67,4 +67,4 @@ struct OrderGroupsByName
 
 }  // namespace
 }  // namespace core
-}  // namespace moveit
+}  // namespace moveit

moveit_core/robot_model/src/planar_joint_model.cpp

@@ -239,4 +239,4 @@ void PlanarJointModel::computeVariablePositions(const Eigen::Isometry3d& transf,
 }
 
 }  // end of namespace core
-}  // end of namespace moveit
+}  // end of namespace moveit

moveit_core/robot_model/src/prismatic_joint_model.cpp

@@ -149,4 +149,4 @@ void PrismaticJointModel::computeVariablePositions(const Eigen::Isometry3d& tran
 }
 
 }  // end of namespace core
-}  // end of namespace moveit
+}  // end of namespace moveit

moveit_demo_nodes/run_move_group/config/panda_controllers.yaml

@@ -15,4 +15,4 @@ panda_arm_controller:
       - panda_joint4
       - panda_joint5
       - panda_joint6
-      - panda_joint7
+      - panda_joint7

moveit_demo_nodes/run_move_group/config/start_positions.yaml

@@ -16,4 +16,4 @@ fake_joint_driver_node:
         - -2.356
         - 0.0
         - 1.571
-        - 0.785
+        - 0.785

moveit_demo_nodes/run_move_group/src/run_move_group.cpp

@@ -226,4 +226,4 @@ int main(int argc, char** argv)
 
   rclcpp::shutdown();
   return 0;
-}
+}

moveit_demo_nodes/run_moveit_cpp/config/fake_controllers.yaml

@@ -16,4 +16,4 @@ fake_hand_controller:
       - panda_finger_joint2
 initial:
    panda_arm: ready
-   hand: open
+   hand: open

moveit_demo_nodes/run_moveit_cpp/config/panda_controllers.yaml

@@ -15,4 +15,4 @@ panda_arm_controller:
       - panda_joint4
       - panda_joint5
       - panda_joint6
-      - panda_joint7
+      - panda_joint7

moveit_demo_nodes/run_moveit_cpp/config/start_positions.yaml

@@ -16,4 +16,4 @@ fake_joint_driver_node:
         - -2.356
         - 0.0
         - 1.571
-        - 0.785
+        - 0.785

moveit_demo_nodes/run_ompl_constrained_planning/README.md

@@ -35,4 +35,3 @@ There are three options for state space selection.
 2. Set `enforce_joint_model_state_space = true` and option 1. is false, then this overrides the remaining settings and selects `JointModelStateSpace` factory. Some planning problems such as orientation path constraints are represented in `PoseModelStateSpace` and sampled via IK. However, consecutive IK solutions are not checked for proximity at the moment and sometimes happen to be flipped, leading to invalid trajectories. This workaround lets the user prevent this problem by forcing rejection sampling in `JointModelStateSpace`.
 
 3. When options 1. and 2. are both set to false, the factory is selected based on the priority each one returns. See [PoseModelStateSpaceFactory::canRepresentProblem](https://github.com/ros-planning/moveit2/blob/b4ff391133c2809e9f697d44593c89a77d1d4c5c/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space_factory.cpp#L45) for details on the selection process. In short, it selects `PoseModelStateSpace` if there is an IK solver and a path constraint.
-

moveit_demo_nodes/run_ompl_constrained_planning/config/panda_controllers.yaml

@@ -15,4 +15,4 @@ panda_arm_controller:
       - panda_joint4
       - panda_joint5
       - panda_joint6
-      - panda_joint7
+      - panda_joint7

moveit_demo_nodes/run_ompl_constrained_planning/config/start_positions.yaml

@@ -16,4 +16,4 @@ fake_joint_driver_node:
         - -2.356
         - 0.0
         - 1.571
-        - 0.785
+        - 0.785

moveit_demo_nodes/run_ompl_constrained_planning/launch/run_ompl_demo.launch.py

@@ -47,4 +47,4 @@ def generate_launch_description():
                                            robot_description_semantic,
                                            kinematics_yaml])
 
-    return LaunchDescription([run_move_group_demo])
+    return LaunchDescription([run_move_group_demo])

moveit_demo_nodes/run_ompl_constrained_planning/package.xml

@@ -21,4 +21,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

moveit_demo_nodes/run_ompl_constrained_planning/src/run_ompl_constrained_planning.cpp

@@ -553,4 +553,4 @@ int main(int argc, char** argv)
 
   rclcpp::shutdown();
   return 0;
-}
+}

moveit_experimental/collision_distance_field_ros/Makefile

@@ -1 +1 @@
-include $(shell rospack find mk)/cmake.mk
+include $(shell rospack find mk)/cmake.mk

moveit_experimental/collision_distance_field_ros/manifest.xml

@@ -16,5 +16,3 @@
   </export>
 
 </package>
-
-

moveit_experimental/kinematics_cache/v1/kinematics_cache/Makefile

@@ -1 +1 @@
-include $(shell rospack find mk)/cmake.mk
+include $(shell rospack find mk)/cmake.mk

moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/Makefile

@@ -1 +1 @@
-include $(shell rospack find mk)/cmake.mk
+include $(shell rospack find mk)/cmake.mk

moveit_experimental/kinematics_cache/v1/kinematics_cache_ros/manifest.xml

@@ -17,5 +17,3 @@
   <depend package="urdf"/>
 
 </package>
-
-

moveit_experimental/kinematics_cache/v2/kinematics_cache/CMakeLists.txt

@@ -15,4 +15,3 @@ install(TARGETS ${MOVEIT_LIB_NAME}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
-

moveit_kinematics/ikfast_kinematics_plugin/scripts/round_collada_numbers.py

@@ -52,11 +52,11 @@ def doRound(values,decimal_places):
 
     for num in num_vector:
         new_num = round(float(num),decimal_places)
-        print "Old:",num,"New:",new_num
+        print("Old:",num,"New:",new_num)
         new_vector.append(str(new_num))
 
     new = " ".join(new_vector)
-    #print 'Original:', values, '  Updated: ', new
+    #print('Original:', values, '  Updated: ', new)
 
     return new
 
@@ -87,7 +87,7 @@ def doRound(values,decimal_places):
     #print(doc.tag)
     #doc = etree.parse(io.BytesIO(xml))
     #element=doc.xpath('//ns:asset',namespaces={'ns','http://www.collada.org/2008/03/COLLADASchema'})
-    #print element
+    #print(element)
 
     namespace = 'http://www.collada.org/2008/03/COLLADASchema'
     dom = etree.parse(io.BytesIO(xml))
@@ -121,5 +121,3 @@ def doRound(values,decimal_places):
     f = open(output_file,'w')
     f.write(etree.tostring(dom))
     f.close()
-
-

moveit_planners/chomp/chomp_interface/test/chomp_planning.yaml

@@ -23,4 +23,3 @@ collision_clearence: 0.2
 collision_threshold: 0.07
 random_jump_amount: 1.0
 use_stochastic_descent: true
-

moveit_planners/chomp/chomp_interface/test/joint_limits.yaml

@@ -11,4 +11,4 @@ joint_limits:
     has_velocity_limits: true
     max_velocity: 6.28318530718
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 0

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h

@@ -334,4 +334,4 @@ std::shared_ptr<BaseConstraint> createOMPLConstraint(const moveit::core::RobotMo
                                                      const std::string& group,
                                                      const moveit_msgs::msg::Constraints& constraints);
 
-}  // namespace ompl_interface
+}  // namespace ompl_interface

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h

@@ -148,4 +148,4 @@ class ConstrainedPlanningStateValidityChecker : public StateValidityChecker
   bool isValid(const ompl::base::State* wrapped_state, bool verbose) const override;
   bool isValid(const ompl::base::State* wrapped_state, double& dist, bool verbose) const override;
 };
-}  // namespace ompl_interface
+}  // namespace ompl_interface

moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp

@@ -385,4 +385,4 @@ std::shared_ptr<BaseConstraint> createOMPLConstraint(const moveit::core::RobotMo
     return nullptr;
   }
 }
-}  // namespace ompl_interface
+}  // namespace ompl_interface

moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp

@@ -978,4 +978,4 @@ bool ompl_interface::ModelBasedPlanningContext::loadConstraintApproximations(con
     return true;
   }
   return false;
-}
+}

moveit_planners/ompl/ompl_interface/src/ompl_planner_manager.cpp

@@ -136,4 +136,4 @@ class OMPLPlannerManager : public planning_interface::PlannerManager
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(ompl_interface::OMPLPlannerManager, planning_interface::PlannerManager)
+PLUGINLIB_EXPORT_CLASS(ompl_interface::OMPLPlannerManager, planning_interface::PlannerManager)

moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/constrained_planning_state_space.cpp

@@ -98,4 +98,4 @@ void ConstrainedPlanningStateSpace::copyJointToOMPLState(ompl::base::State* ompl
   // clear any cached info (such as validity known or not)
   ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateType>()->clearKnownInformation();
 }
-}  // namespace ompl_interface
+}  // namespace ompl_interface

moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst

@@ -6,4 +6,3 @@ Forthcoming
 -----------
 * [feature] Add Pilz industrial motion planner (`#1893 <https://github.com/tylerjw/moveit/issues/1893>`_)
 * Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Joachim Schleicher, rfeistenauer
-

moveit_planners/pilz_industrial_motion_planner/doc/.gitignore

@@ -9,4 +9,4 @@
 *.fls 
 *.out
 *.synctex.gz
-*.pdf
+*.pdf

moveit_planners/pilz_industrial_motion_planner/test/test_robots/testpoints.py

@@ -138,4 +138,3 @@ def test_sequence(initJointPose, L, M, planning_group, target_link, reference_fr
 
 
     start_program(sys.argv[1])
-

moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst

@@ -6,4 +6,3 @@ Forthcoming
 -----------
 * [feature] Add Pilz industrial motion planner (`#1893 <https://github.com/tylerjw/moveit/issues/1893>`_)
 * Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Joachim Schleicher, rfeistenauer
-

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/checks.h

@@ -59,4 +59,4 @@ ::testing::AssertionResult isAtExpectedPosition(const robot_state::RobotState& e
 }
 }  // namespace pilz_industrial_motion_planner_testutils
 
-#endif  // CENTERAUXILIARY_H
+#endif  // CENTERAUXILIARY_H

moveit_planners/sbpl/core/sbpl_interface/Makefile

@@ -1 +1 @@
-include $(shell rospack find mk)/cmake.mk
+include $(shell rospack find mk)/cmake.mk

moveit_planners/sbpl/core/sbpl_interface/manifest.xml

@@ -20,5 +20,3 @@
   </export>
 
 </package>
-
-

moveit_planners/sbpl/ros/sbpl_interface_ros/Makefile

@@ -1 +1 @@
-include $(shell rospack find mk)/cmake.mk
+include $(shell rospack find mk)/cmake.mk

moveit_planners/sbpl/ros/sbpl_interface_ros/manifest.xml

@@ -19,5 +19,3 @@
   </export>
 
 </package>
-
-

moveit_planners/trajopt/README.md

@@ -1 +1 @@
-As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.
+As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.

moveit_ros/benchmarks/examples/demo_obstacles.yaml

@@ -30,4 +30,3 @@ benchmark_config:
         - name: stomp
           planners:
             - STOMP
-

moveit_ros/benchmarks/examples/demo_panda_predefined_poses.launch.py

@@ -59,4 +59,3 @@ def generate_launch_description():
                                                   ompl_planning_pipeline_config])
 
     return LaunchDescription([moveit_ros_benchmarks_node])
-

moveit_ros/benchmarks/scripts/moveit_benchmark_statistics.py

@@ -602,4 +602,3 @@ def computeViews(dbname):
 
     if options.mysqldb:
         saveAsMysql(options.dbname, options.mysqldb)
-

moveit_ros/move_group/scripts/save_map

@@ -12,4 +12,3 @@ if save_map_service(filename):
     rospy.loginfo('Succeeded')
 else:
     rospy.loginfo('Failed')
-

moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.cpp

@@ -73,4 +73,4 @@ bool ApplyPlanningSceneService::applyScene(const std::shared_ptr<rmw_request_id_
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(move_group::ApplyPlanningSceneService, move_group::MoveGroupCapability)
+PLUGINLIB_EXPORT_CLASS(move_group::ApplyPlanningSceneService, move_group::MoveGroupCapability)

moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp

@@ -200,4 +200,4 @@ bool MoveGroupCartesianPathService::computeService(const std::shared_ptr<rmw_req
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupCartesianPathService, move_group::MoveGroupCapability)
+PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupCartesianPathService, move_group::MoveGroupCapability)

moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp

@@ -67,4 +67,4 @@ void move_group::ClearOctomapService::clearOctomap(const std::shared_ptr<std_srv
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(move_group::ClearOctomapService, move_group::MoveGroupCapability)
+PLUGINLIB_EXPORT_CLASS(move_group::ClearOctomapService, move_group::MoveGroupCapability)

moveit_ros/move_group/src/default_capabilities/execute_trajectory_service_capability.cpp

@@ -114,4 +114,4 @@ bool MoveGroupExecuteService::executeTrajectoryService(moveit_msgs::srv::Execute
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupExecuteService, move_group::MoveGroupCapability)
+PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupExecuteService, move_group::MoveGroupCapability)

moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp

@@ -52,4 +52,4 @@ void MoveGroupGetPlanningSceneService::initialize()
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupCapability)
+PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupCapability)

moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp

@@ -228,4 +228,4 @@ bool MoveGroupKinematicsService::computeFKService(const std::shared_ptr<rmw_requ
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupKinematicsService, move_group::MoveGroupCapability)
+PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupKinematicsService, move_group::MoveGroupCapability)